A tree climber pruner

Abstract

The utility model discloses a kind of forest climbing trimmers, including three climbing wheel groups and one to three pruning tools, pruning tool is installed on climbing wheel group, three climbing wheel groups are overall arranged in triangle, and three climbing wheel groups are sequentially provided with tension adjusting device. Among them, two tension adjusting devices include electric adjusting device, the tension or tire pressure size based on tension sensor or tire pressure sensor monitoring, the tightening force of forest climbing trimmer to trunk is adjusted in real time, to maintain preset tightness.

Description

Technical Field

[0001] This utility model relates to the field of forest logging technology, specifically to a forest climbing and pruning machine. Background Technology

[0002] In forest maintenance, it is often necessary to prune branches. For example, in order to understand the growth of bamboo, researchers need to cut branches from the bottom of the bamboo for research. However, when the bamboo is more than ten meters tall or even taller, ordinary branch pruning tools are no longer applicable due to height limitations. At this time, a pruning device is needed to climb along the trunk to the height of the bamboo branches to perform the operation.

[0003] However, existing climbing devices have a series of problems, such as complex structures that result in heavy overall weight, making it difficult for workers to place them on tree trunks. Furthermore, bamboo trunks taper gradually from bottom to top, requiring the climbing device to be adjusted to fit the trunk's diameter; otherwise, the device is prone to slipping. Additionally, the pruning tools on the climbing device need to be adjusted in angle according to the branch's growth position to ensure smooth cutting. Therefore, this invention proposes a forest climbing and pruning machine to improve upon the aforementioned problems of climbing devices. Summary of the Invention

[0004] To solve the above-mentioned technical problems, this utility model proposes a tree climbing pruning machine, which is equipped with an adjustable device inside the pruning machine to adjust its size in a timely manner according to the diameter of the tree trunk, and is equipped with a gimbal on the pruning tool to adjust the pruning angle according to the growth position of the branches.

[0005] To achieve the above objectives, the tree climbing pruning machine of this utility model includes three climbing wheel sets and one to three pruning tools. The pruning tools are mounted on the climbing wheel sets, which are arranged in a triangular pattern. Tension adjustment devices are provided between the three climbing wheel sets, two of which include electric adjustment devices, and the third includes a manual adjustment device and / or a combined electric adjustment device. The manual adjustment device can be fully opened to allow the tree climbing pruning machine to wrap around the tree trunk. The third tension adjustment device, through the manual adjustment device, provides coarse adjustment to tighten the tree climbing pruning machine onto the trunk. The electric adjustment device performs fine adjustments based on a preset tension, ensuring the climbing wheel sets are firmly against the trunk, enabling the machine to climb upwards along the trunk. Furthermore, it can be finely adjusted in real time according to the trunk diameter to meet the preset tension.

[0006] The preset tension is determined by the mass of the tree climbing pruning machine and the coefficient of friction between the climbing wheels and the tree trunk. To ensure the tree climbing pruning machine maintains the preset tension, it also includes a clamping force sensor, which includes a tension sensor and / or a tire pressure sensor. The tension sensor is connected to the electric adjustment device to monitor the tension at the device, while the tire pressure sensor is installed inside the tires of the climbing wheels to monitor tire pressure.

[0007] When the tension sensor detects that the tension at the electric adjustment device is less than the preset value, or when the tire pressure sensor detects that the tire pressure is less than the preset value, the controller will control the electric adjustment device to perform a tightening operation.

[0008] To increase the freedom of movement of the trimming tool, a gimbal is provided on the climbing wheel assembly. The trimming tool is mounted on the gimbal. Preferably, the gimbal is a three-axis gimbal. The three-axis gimbal includes an offset axis assembly movably connected to the climbing wheel assembly, a roll axis assembly movably connected to the offset axis assembly, and a pitch axis assembly movably connected to the roll axis assembly. The trimming tool is mounted on the pitch axis assembly.

[0009] The aforementioned tree climbing and pruning machine also includes a power module and a remote controller. The power module and controller are respectively connected to the climbing wheel assembly, electric adjustment device, clamping force sensor, three-axis gimbal, and pruning tools. The power module supplies power to these components, and the controller controls their movement. The remote controller is communicatively connected to the controller; the operator sends action signals to the controller via the remote controller, which then controls the relevant components.

[0010] This utility model's tree climbing pruning machine is equipped with an electric adjustment device. Based on the tension or tire pressure monitored by a tension sensor or tire pressure sensor, the electric adjustment device adjusts the clamping force of the tree climbing pruning machine on the tree trunk in real time to maintain a preset tightness, preventing slippage due to changes in the trunk diameter. The pruning tool is mounted on the climbing wheel assembly via a three-axis gimbal. The three-axis gimbal gives the pruning tool multiple degrees of freedom, allowing adjustment of the pruning angle according to the branch's growth position, increasing operational convenience. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of a tree climbing and pruning machine.

[0012] Figure 2 This is a schematic diagram of the automatic adjustment device.

[0013] Figure 3 yes Figure 2 A cross-sectional view of the middle section line AA. Detailed Implementation

[0014] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of this utility model.

[0015] Example 1 See appendix Figure 1-3 A tree climbing and pruning machine is disclosed, comprising three climbing wheel sets 1 and two pruning tools 2. The pruning tools 2 are installed on two of the climbing wheel sets 1. The three climbing wheel sets 1 are arranged in a triangular shape. Tension adjustment devices are provided between the three climbing wheel sets 1. The tension adjustment devices are rotatably connected to the climbing wheel sets 1. Two of the tension adjustment devices are automatic adjustment devices 3, and the third tension adjustment device is a manual adjustment device 4.

[0016] The climbing wheel assembly 1 includes a mounting frame 1-1 and wheels 1-2. The wheels 1-2 are mounted on the bottom of the mounting frame 1-1, and at least two of the wheels 1-2 are drive wheels to ensure smooth operation of the tree climbing and pruning machine. In this embodiment, the drive wheels are driven by hub motors. Hub motors have a simple drive structure and small installation volume to reduce the overall weight. Hub motors are existing technology, and their specific structure will not be described in detail here.

[0017] The pruning tool 2 employs a pruning machine from the prior art, such as a chain hedge trimmer. As this is prior art, its specific structure will not be described in detail here. The pruning tool 2 is mounted on the carrier frame 1-1 via a three-axis gimbal 5. The three-axis gimbal 5 includes an offset axis assembly 5-1 movably connected to the carrier frame 1-1, a roll axis assembly 5-2 movably connected to the offset axis assembly 5-1, and a pitch axis assembly 5-3 movably connected to the roll axis assembly 5-2. The pruning tool 2 is mounted on the pitch axis assembly 5-3. The three-axis gimbal 5 improves the flexibility of the pruning tool 2, allowing adjustment of the pruning angle according to the growth position of the branches. The offset axis assembly 5-1, roll axis assembly 5-2, and pitch axis assembly 5-3 respectively drive the pruning tool 2 to rotate around the Z-axis, X-axis, and Y-axis of the spatial coordinate system. Each of these components includes a drive motor and a swing arm. The drive motor drives the swing arm to rotate. The specific structures of the drive motor and swing arm are well known to those skilled in the art and will not be described in detail here. The trimming tool 2 is mounted on the swing arm of the pitch axis assembly 5-3. The motors of the pitch axis assembly 5-3 and the roll axis assembly 5-2 are respectively mounted on the swing arms of the roll axis assembly 5-2 and the offset axis assembly 5-1. The motor of the offset axis assembly 5-1 is mounted on the carrier frame 1-1.

[0018] The manual adjustment device 4 includes a threaded adjustment rod 4-1 and threaded adjustment tubes 4-2 located at both ends of the threaded adjustment rod 4-1. The threaded adjustment rod 4-1 and the threaded adjustment tubes 4-2 are threadedly connected, wherein the threads at both ends of the threaded adjustment rod 4-1 are opposite to each other, ensuring that when the threaded adjustment rod 4-1 rotates in one direction, the threaded adjustment tubes 4-2 at both ends move closer together, and when the threaded adjustment rod 4-1 rotates in the opposite direction, the threaded adjustment tubes 4-2 at both ends move further apart. A rotating part for applying force to the tool is provided in the middle of the threaded adjustment rod 4-1. The other end of the threaded adjustment tube 4-2 is rotatably connected to the carrier frame 1-1. In this embodiment, the rotatable connection is achieved by a bolt passing through the carrier frame 1-1 and the threaded adjustment tube 4-2.

[0019] The automatic adjustment device 3 includes an electric adjustment device 3-1 and a tension sensor 3-2. The electric adjustment device 3-1 can be a linear motor, an electric push rod, a hydraulic rod, etc. The transmission type of the electric push rod can be a ball screw, a trapezoidal screw, or a rack and pinion. In this embodiment, the electric adjustment device 3-1 is an electric push rod, and the transmission type of the electric push rod is a trapezoidal screw. The trapezoidal screw has a self-locking function to prevent the length of the electric push rod from changing when the power is off, thus preventing the tree climbing pruning machine from slipping off the tree trunk. One end of the electric push rod is rotatably connected to the carrier frame 1-1, and the push rod end of the electric push rod is connected to the tension sensor 3-2. The other end of the tension sensor 3-2 is rotatably connected to the carrier frame 1-1. The tension sensor 3-2 includes a pressure sensor 3-21, a sensor rod 3-22, and a sensor housing 3-23. One end of the sensor rod 3-22 is provided with a pressure plate 3-221. The pressure sensor 3-21 passes through the sensor rod 3-22. The pressure plate 3-221 and the pressure sensor 3-21 are housed in the accommodating cavity 3-231 of the sensor housing 3-23. A cover 3-232 is provided at the opening of the accommodating cavity 3-231. The pressure sensor 3-21 is located between the pressure plate 3-221 and the cover 3-232. One end of the sensor rod 3-22 extending out of the accommodating cavity 3-231 is connected to the push rod of the electric push rod.

[0020] The self-adjusting device 3 works by having an electric push rod drive a sensor pressure rod 3-22 to press a pressure sensor 3-21. The pressure sensor 3-21 monitors the pressure value it bears in real time, which is the tension value applied by the self-adjusting device 3. When the tension value reaches the preset value, the electric push rod stops working. When the trunk diameter decreases, the pressure applied by the sensor pressure rod 3-22 to the pressure sensor 3-21 will decrease. At this time, the electric push rod will drive the sensor pressure rod 3-22 to press a pressure sensor 3-21, so that the tension value returns to the preset value, preventing the tree climbing pruning machine from slipping on the tree trunk.

[0021] A power module 7 is installed on top of one of the mounting frames 1-1, providing power to the various components of the tree climbing and pruning machine. A controller 6 is installed on one of the mounting frames 1-1, controlling the various components of the tree climbing and pruning machine to perform corresponding actions. The power and control lines of each component are not shown; they represent conventional circuit connections and do not affect the implementation by those skilled in the art. Additionally, a remote control (not shown) is included. The remote control is communicatively connected to the controller 6. The operator holds the remote control and sends action commands to the controller 6, which then controls the movement of the corresponding component. The communication method between the remote control and the controller 6 uses conventional wired or wireless methods, which will not be described further here.

[0022] Example 2 Unlike Embodiment 1, a tire pressure sensor (not shown) is installed inside wheel 1-2. The tire pressure sensor is a commonly used tire pressure sensor, and its installation structure is also well-known to those skilled in the art. The tire pressure sensor is communicatively connected to controller 6 using a common communication protocol. The tire pressure sensor monitors the tire pressure of wheel 1-2, and the pressure level determines whether the electric adjustment device 3-1 needs to adjust the tension. When the trunk diameter decreases, the compression on wheel 1-2 decreases, resulting in a decrease in tire pressure. When the tire pressure sensor detects this decrease, controller 6 controls the electric adjustment device 3-1 to contract, causing wheel 1-2 to press firmly against the trunk, restoring the tire pressure to the pre-set value and preventing the tree climbing and pruning machine from slipping on the trunk.

[0023] The basic principles, main features, and advantages of this utility model in the explored field have been described in detail above, and some usage examples have been detailed. Finally, it should be noted that the examples given above are only for illustrative purposes and are not intended to limit this utility model. Although we have described this utility model in detail with reference to the examples, those skilled in the art can still modify the described examples and solutions, or replace related technical parts. Therefore, any modifications or equivalent substitutions made within the spirit and principles of this utility model are within the protection scope of the claims of this utility model patent.

Claims

1. A tree climbing and pruning machine, characterized in that: It includes three climbing wheel sets and one to three trimming tools. The trimming tools are mounted on the climbing wheel sets. The three climbing wheel sets are arranged in a triangular shape. Tension adjustment devices are provided between the three climbing wheel sets. The tension adjustment devices are rotatably connected to the climbing wheel sets. Two of the tension adjustment devices include electric adjustment devices, and the third tension adjustment device includes a manual adjustment device and / or an electric adjustment device; It also includes a clamping force sensor, a controller, and a power supply. The clamping force sensor includes a tension sensor and / or a tire pressure sensor. The tension sensor is connected to an electric adjustment device to monitor the tension at the electric adjustment device. The tire pressure sensor is installed inside the tire of the climbing wheel assembly. The controller and power supply are respectively connected to the climbing wheel assembly, the electric adjustment device, the clamping force sensor, and the trimming tool.

2. A tree climber pruner as claimed in claim 1 wherein: It also includes a remote controller, which is communicatively connected to the controller.

3. A tree climber pruner as claimed in claim 1 wherein: It also includes a three-axis gimbal, which includes an offset axis assembly movably connected to the climbing wheel assembly, a roll axis assembly movably connected to the offset axis assembly, and a pitch axis assembly movably connected to the roll axis assembly, with the trimming tool mounted on the pitch axis assembly.

4. A tree climber pruner as defined in claim 1 wherein: The tension sensor includes a pressure sensor, a sensor rod, and a sensor housing. One end of the sensor rod is provided with a pressure plate, and the pressure sensor passes through the sensor rod. The pressure plate and the pressure sensor are housed in the receiving cavity of the sensor housing. The opening of the receiving cavity is provided with a cover, and the pressure sensor is located between the pressure plate and the cover. One end of the sensor rod extending out of the receiving cavity is connected to an electric adjustment device.

5. A tree climber pruner as defined in claim 1 wherein: The manual adjustment device includes a threaded adjustment rod and threaded adjustment tubes located at both ends of the threaded adjustment rod. The threaded adjustment rod and the threaded adjustment tubes are threadedly connected, and the threads at both ends of the threaded adjustment rod are in opposite directions.

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